Finite frequency range robust iterative learning control of linear discrete system with multiple time-delays

This paper uses repetitive process stability theory to design robust iterative learning control law for linear discrete systems with multiple time-delays and polytopic uncertainty. Both dynamic and static forms of the control law are considered and used when designing robust iterative learning contr...

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Bibliographic Details
Published in:Journal of the Franklin Institute 2019-03, Vol.356 (5), p.2690-2708
Main Authors: Tao, Hongfeng, Paszke, Wojciech, Yang, Huizhong, Gałkowski, Krzysztof
Format: Article
Language:English
Subjects:
Attenuation
Control stability
Control theory
Convergence
Discrete systems
Frequency ranges
Iterative methods
Learning
Linear matrix inequalities
Mathematical analysis
Numerical analysis
Robust control
Simulation
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Summary:This paper uses repetitive process stability theory to design robust iterative learning control law for linear discrete systems with multiple time-delays and polytopic uncertainty. Both dynamic and static forms of the control law are considered and used when designing robust iterative learning control schemes. Also, based on the generalized Kalman-Yakubovich-Popov Lemma, the proposed design procedures a required frequency attenuation over a finite frequency range and the monotonic trial-to-trial error convergence. Moreover, linear matrix inequality techniques are applied to formulate the convergence conditions and to obtain formulas for the control law designs. Finally, an illustrative numerical simulation example is given and concludes the paper.
ISSN:0016-0032
1879-2693
0016-0032
DOI:10.1016/j.jfranklin.2019.01.040